Fix memory leaks, races, crashes; add CI build (Windows x64 + Linux x64)

.github/workflows/build.yml

@@ -0,0 +1,127 @@
+name: Build
+
+on:
+  push:
+    branches: [main, dev]
+  pull_request:
+    branches: [main, dev]
+  workflow_dispatch:
+
+# Cancel an in-flight run when a newer commit lands on the same ref.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: ${{ matrix.label }}
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 60
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            label: linux-x86_64
+          - os: windows-2022
+            label: windows-x86_64
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      # -------------------------------------------------------------------
+      # Linux: Microsoft "prod" apt repo for the Azure Kinect SDK (libk4a +
+      # k4arecord + the dlopen'd depth engine via k4a-tools), plus OpenCV and
+      # the GLFW/GTK system deps.
+      #
+      # The k4a packages are published only under the Ubuntu 18.04 ("bionic")
+      # prod feed; they install cleanly on 22.04 by adding that feed and
+      # pointing the suite at "bionic" (the feed has no "jammy" suite, so
+      # $(lsb_release -cs) would 404 here). The packages carry an interactive
+      # EULA, so we preseed debconf before apt runs.
+      # -------------------------------------------------------------------
+      - name: Install Linux dependencies
+        if: runner.os == 'Linux'
+        env:
+          DEBIAN_FRONTEND: noninteractive
+          ACCEPT_EULA: 'Y'
+        run: |
+          set -euxo pipefail
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            ca-certificates curl gnupg lsb-release \
+            build-essential cmake ninja-build pkg-config \
+            libopencv-dev \
+            libgl1-mesa-dev libglu1-mesa-dev \
+            libxinerama-dev libxcursor-dev libxi-dev libxrandr-dev \
+            libwayland-dev libxkbcommon-dev \
+            libusb-1.0-0-dev libudev-dev \
+            libgtk-3-dev
+
+          # Microsoft prod apt repo (18.04 / bionic feed) for the Azure Kinect SDK.
+          # Modern signed-by keyring rather than the deprecated apt-key.
+          sudo install -m 0755 -d /etc/apt/keyrings
+          curl -fsSL https://packages.microsoft.com/keys/microsoft.asc \
+            | sudo gpg --dearmor -o /etc/apt/keyrings/microsoft.gpg
+          sudo chmod 0644 /etc/apt/keyrings/microsoft.gpg
+          echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/microsoft.gpg] https://packages.microsoft.com/ubuntu/18.04/prod bionic main" \
+            | sudo tee /etc/apt/sources.list.d/microsoft-prod.list
+          sudo apt-get update
+
+          # Preseed the EULA so libk4a / k4a-tools install non-interactively.
+          # Hash is the published "accepted-eula-hash" for the 1.4 packages; if
+          # it is wrong the preseed is silently ignored and apt blocks on the
+          # prompt until the job times out.
+          echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' \
+            | sudo debconf-set-selections
+          echo 'k4a-tools k4a-tools/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' \
+            | sudo debconf-set-selections
+
+          # libk4a1.4 ships libk4a.so + libk4arecord.so + the dlopen'd
+          # libdepthengine.so.2.0; -dev adds the headers + CMake/pkg-config that
+          # find_package(k4a) needs; k4a-tools is belt-and-suspenders for the
+          # depth engine. Pin matching versions.
+          sudo apt-get install -y --no-install-recommends \
+            libk4a1.4=1.4.2 libk4a1.4-dev=1.4.2 k4a-tools=1.4.2
+
+      # -------------------------------------------------------------------
+      # Windows: chocolatey for OpenCV only. The Azure Kinect SDK is VENDORED
+      # in the repo (extern/k4a/win32) and resolved by CMake from there, so
+      # there is NO k4a install step. CMake's POST_BUILD copies the 3 k4a DLLs
+      # next to the exe.
+      # -------------------------------------------------------------------
+      - name: Install Windows dependencies
+        if: runner.os == 'Windows'
+        timeout-minutes: 25
+        shell: pwsh
+        run: |
+          $ErrorActionPreference = 'Stop'
+
+          Write-Host "Installing OpenCV via chocolatey..."
+          choco install opencv --version=4.10.0 -y --no-progress
+          $opencvDir = "C:\tools\opencv\build"
+          if (-not (Test-Path "$opencvDir\OpenCVConfig.cmake")) {
+            $opencvDir = Get-ChildItem -Path "C:\tools\opencv" -Recurse -Filter "OpenCVConfig.cmake" | Select-Object -First 1 -ExpandProperty Directory | Select-Object -ExpandProperty FullName
+          }
+          "OpenCV_DIR=$opencvDir"            | Out-File -FilePath $env:GITHUB_ENV -Append
+          "$opencvDir\x64\vc16\bin"          | Out-File -FilePath $env:GITHUB_PATH -Append
+
+      # -------------------------------------------------------------------
+      # Configure + build. Windows is pinned to the x64 VS generator so we
+      # never accidentally pick up a 32-bit toolchain (the OpenCV and vendored
+      # k4a libs are x64-only). /MT linkage on Windows + prebuilt OpenCV (/MD)
+      # relies on the /FORCE linker flag already set in CMakeLists.
+      # -------------------------------------------------------------------
+      - name: Configure (Windows x64)
+        if: runner.os == 'Windows'
+        run: cmake -S . -B build -G "Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release
+
+      - name: Configure (Linux)
+        if: runner.os == 'Linux'
+        run: cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
+
+      - name: Build
+        run: cmake --build build --config Release --parallel